To set hyperfocal distance you simply do this with standard calibration of zoom. This means that everything between the farthest point and the half way point will remain in focus. You will only have trouble if their is an object that ends up coming too close. You can often deal with a balancing of a far away object and a close up object by a mix of framing, effects, and lenses.
For example, you could use a spit diopter to capture both the distant image and the close up one. You could also rack focus to transfer the focus from one object to the other. You may even want to simply have your movable object back up into the hyperfocal area.